Professor Xiao Tianyuan for the book " Introduction to System Simulation," in reference to Runge-Kutta method is difficult to understand the phenomenon of post-graduate program, I have added comments to beginners can learn the corresponding algorithms and programming together, which could effectively implementation of control algorithms, using Runge-Kutta method for online real-time simulation, modeling, optimal control and adaptive control of a meaningful education.

longgekuta.C

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